Data Sheet

Copyright © Roboteq Inc. 2018. All Rights Reserved. 21
TABLE 32 - TARGET POSITION
Sub-Index
00
Optional
CND
Type
S32
Access
RW
PDO
R
Value Range
Default
0
RoboCommand
POS
Description
The commanded position that the drive should move to in position
profile mode using the current settings of motion control parameters
such as velocity, acceleration, deceleration, motion profile type etc.
The value of this object shall be interpreted as absolute or relative
depending on the abs/rel flag in the ControlWord.
The position unit are in sensor counts in Closed Loop Count Position mode. In Closed Loop
Position Relative mode and in Closed Loop Tracking Position mode the position unit is in
range -1000 to 1000 scaled by the minimum and maximum sensor value.
3.16 0X6081 - PROFILE VELOCITY (PP)
Table 33 gives a short description of the object.
TABLE 33 - PROFILE VELOCITY
Sub-Index
00
Optional
CND
Type
U32
Access
RW
PDO
R
Value Range
Default
MVEL(1000)
RoboCommand
PSP
Description
This object shall indicate the configured velocity, in RPM, normally
attained at the end of the acceleration ramp during a profiled motion
and shall be valid for both directions of motion.
3.17 0X6083 - PROFILE ACCELERATION (PP)
Table 34 gives a short description of the object.
TABLE 34 - PROFILE ACCELERATION
Sub-Index
00
Optional
CND
Type
U32
Access
RW
PDO
R
Value Range
Default
MAC(20000)
RoboCommand
PAC
Description
This object shall indicate the configured acceleration, in
(RPM*10)/second.